Introduction

This is the official documentation for FTC Team 23511, the Seattle Solvers.

Please note: while this mdBook is open-source, there is no guarantee that any pull requests/issues will be addressed or merged.

Odometry Testing

Environment:

Latest FIRST Tech Challenge Field Soft Tiles
- Lightly used (1 season)
- Vacuumed before each new odometry system used
No game elements (trusses, stage door, backdrop, etc.)
Wood floor and tarp underneath field

Environment does not change or get moved between tests!

Hardware:

Strafer® Chassis Kit V5 - goBILDA® - all parts lightly used for 1 season or less with no effects to performance
- Only modification of 435 RPM goBILDA® motors
- Same goBILDA® MOD 1.25 30 tooth gears as what come in the kit
- Added weights at the center of the robot until robot weighs 25 lbs
- All screws have red loctite applied to them to keep robot rigid between tests
“New” Control Hub
- Both IMUs available and tested individually for 2 wheel testing
- Internal BHI260AP IMU
- External BNO055 IMU
All tests done when battery is between 12-13v (measured via REV Driver Hub)
- All batteries are less than a year old

Only hardware changes between tests are changing the odometry module!

CAD models for all odometry set-ups can be found here

Software:

Robot Library: RoadRunner V1.0 (Quickstart, 3 Dead Wheels)
- Tuning steps: (each step should be ran 3 times, and the three values should be averaged to get the final constant)
- ForwardPushTest & LateralPushTest: \( \frac{\frac{96}{24.5}}{384.5} = 0.010190812 \)
- ForwardRampLogger: 5 Tiles (120 inches)
- LateralRampLogger: ~5.5 seconds of runtime
- AngularRampLogger: ~7 seconds of runtime
- ManualFeedforwardTuner & ManualFeedbackTuner: 4.5 Tiles (108 inches)
Testing Specifications:
1. Straight Test:
  - Moving in every 30° direction from 0° to 330° back and forth a distance of 2 Tiles (48 inches) in a straight line
  - At the end, the change in position for each odometry wheel is returned
  - There is no turning
  - This will all be executed with .strafeTo(new Vector2d(x, y)), not .lineToX(x) or .lineTo(x)
2. Spline Test:
  - A large variety of splines, turns, and turning while strafing in complex paths
  - At the end, the change in position for each odometry wheel is returned
3. Combined Test:
  - A combination of Spline Test and Straight Test
  - At the end, the change in position for each odometry wheel is returned

Straight Test

// Straight Test
.strafeTo(new Vector2d(0, 48))
.strafeTo(new Vector2d(0, 0))

.strafeTo(new Vector2d(24, 24 * Math.sqrt(3)))
.strafeTo(new Vector2d(0, 0))

.strafeTo(new Vector2d(24 * Math.sqrt(3), 24))
.strafeTo(new Vector2d(0, 0))

.strafeTo(new Vector2d(48, 0))
.strafeTo(new Vector2d(0, 0))

.strafeTo(new Vector2d(24 * Math.sqrt(3), -24))
.strafeTo(new Vector2d(0, 0))

.strafeTo(new Vector2d(24, -24 * Math.sqrt(3)))
.strafeTo(new Vector2d(0, 0))

.strafeTo(new Vector2d(0, -48))
.strafeTo(new Vector2d(0, 0))

.strafeTo(new Vector2d(-24, -24 * Math.sqrt(3)))
.strafeTo(new Vector2d(0, 0))

.strafeTo(new Vector2d(-24 * Math.sqrt(3), -24))
.strafeTo(new Vector2d(0, 0))

.strafeTo(new Vector2d(-48, 0))
.strafeTo(new Vector2d(0, 0))

.strafeTo(new Vector2d(-24 * Math.sqrt(3), 24))
.strafeTo(new Vector2d(0, 0))

.strafeTo(new Vector2d(-24, 24 * Math.sqrt(3)))
.strafeTo(new Vector2d(0, 0))

Spline Test

// Spline Test
.strafeToSplineHeading(new Vector2d(-48, -48), Math.toRadians(0))

.setTangent(0)
.splineToSplineHeading(new Pose2d(48, 48, Math.toRadians(90)), Math.PI / 2)

.setTangent(0)
.setReversed(true)
.splineTo(new Vector2d(24, 24), Math.PI / 2)

.setTangent(0)
.setReversed(false)
.splineToConstantHeading(new Vector2d(0, 36), Math.PI / 2)

.turnTo(Math.toRadians(180))

.splineTo(new Vector2d(-48, 48), Math.PI / 2)

.splineTo(new Vector2d(0, 0), Math.PI / 2)

.strafeToSplineHeading(new Vector2d(-48, -48), Math.toRadians(0))

.setTangent(0)
.splineToSplineHeading(new Pose2d(48, 48, Math.toRadians(90)), Math.PI / 2)

.setTangent(0)
.setReversed(true)
.splineTo(new Vector2d(24, 24), Math.PI / 2)

.setTangent(0)
.setReversed(false)
.splineToConstantHeading(new Vector2d(0, 36), Math.PI / 2)

.turnTo(Math.toRadians(180))

.splineTo(new Vector2d(-48, 48), Math.PI / 2)

.splineTo(new Vector2d(0, 0), Math.PI / 2)

.strafeToSplineHeading(new Vector2d(-48, -48), Math.toRadians(0))

.setTangent(0)
.splineToSplineHeading(new Pose2d(48, 48, Math.toRadians(90)), Math.PI / 2)

.setTangent(0)
.setReversed(true)
.splineTo(new Vector2d(24, 24), Math.PI / 2)

.setTangent(0)
.setReversed(false)
.splineToConstantHeading(new Vector2d(0, 36), Math.PI / 2)

.turnTo(Math.toRadians(180))

.splineTo(new Vector2d(-48, 48), Math.PI / 2)

.splineTo(new Vector2d(0, 0), Math.PI / 2)

.strafeToSplineHeading(new Vector2d(-48, -48), Math.toRadians(0))

.setTangent(0)
.splineToSplineHeading(new Pose2d(48, 48, Math.toRadians(90)), Math.PI / 2)

.setTangent(0)
.setReversed(true)
.splineTo(new Vector2d(24, 24), Math.PI / 2)

.setTangent(0)
.setReversed(false)
.splineToConstantHeading(new Vector2d(0, 36), Math.PI / 2)

.turnTo(Math.toRadians(180))

.splineTo(new Vector2d(-48, 48), Math.PI / 2)

.splineTo(new Vector2d(0, 0), Math.PI / 2)

Combined Test

// Combined Test
.strafeToSplineHeading(new Vector2d(-48, -48), Math.toRadians(0))

.strafeTo(new Vector2d(-24, 24 * Math.sqrt(3)))
.setTangent(0)

.splineToSplineHeading(new Pose2d(48, 48, Math.toRadians(90)), Math.PI / 2)

.strafeToSplineHeading(new Vector2d(-48, 48), Math.toRadians(270))

.turnTo(Math.toRadians(315))

.splineTo(new Vector2d(-48, 12), Math.PI / 6)

.splineToSplineHeading(new Pose2d(48, -6, Math.toRadians(215)), Math.PI / 3)

.setReversed(true)

.splineToSplineHeading(new Pose2d(6, -48, Math.toRadians(215)), Math.PI / 4)
.splineTo(new Vector2d(36, -18), Math.PI / 2)

.strafeToLinearHeading(new Vector2d(24, 24), Math.toRadians(0))

.turnTo(Math.toRadians(45))
.lineToX(0)
.turn(Math.toRadians(-45))

.strafeToSplineHeading(new Vector2d(-48, -48), Math.toRadians(0))

.strafeTo(new Vector2d(-24, 24 * Math.sqrt(3)))
.setTangent(0)

.splineToSplineHeading(new Pose2d(48, 48, Math.toRadians(90)), Math.PI / 2)

.strafeToSplineHeading(new Vector2d(-48, 48), Math.toRadians(270))

.turnTo(Math.toRadians(315))

.splineTo(new Vector2d(-48, 12), Math.PI / 6)

.splineToSplineHeading(new Pose2d(48, -6, Math.toRadians(215)), Math.PI / 3)

.setReversed(true)

.splineToSplineHeading(new Pose2d(6, -48, Math.toRadians(215)), Math.PI / 4)
.splineTo(new Vector2d(36, -18), Math.PI / 2)

.strafeToLinearHeading(new Vector2d(24, 24), Math.toRadians(0))

.turnTo(Math.toRadians(45))
.lineToX(0)
.turn(Math.toRadians(-45))

.strafeToSplineHeading(new Vector2d(-48, -48), Math.toRadians(0))

.strafeTo(new Vector2d(-24, 24 * Math.sqrt(3)))
.setTangent(0)

.splineToSplineHeading(new Pose2d(48, 48, Math.toRadians(90)), Math.PI / 2)

.strafeToSplineHeading(new Vector2d(-48, 48), Math.toRadians(270))

.turnTo(Math.toRadians(315))

.splineTo(new Vector2d(-48, 12), Math.PI / 6)

.splineToSplineHeading(new Pose2d(48, -6, Math.toRadians(215)), Math.PI / 3)

.setReversed(true)

.splineToSplineHeading(new Pose2d(6, -48, Math.toRadians(215)), Math.PI / 4)
.splineTo(new Vector2d(36, -18), Math.PI / 2)

.strafeToLinearHeading(new Vector2d(24, 24), Math.toRadians(0))

.turnTo(Math.toRadians(45))
.lineToX(0)
.turn(Math.toRadians(-45))

Contributors

Arush (github) (discord)
Seattle Solvers (github) (discord)

Image above was made with contrib.rocks.

Seattle Solvers Docs